US20190276254A1 - Positioning and conveying device - Google Patents
Positioning and conveying device Download PDFInfo
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- US20190276254A1 US20190276254A1 US16/462,632 US201716462632A US2019276254A1 US 20190276254 A1 US20190276254 A1 US 20190276254A1 US 201716462632 A US201716462632 A US 201716462632A US 2019276254 A1 US2019276254 A1 US 2019276254A1
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- United States
- Prior art keywords
- roller
- segments
- actuator assembly
- positioning
- belt
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/02—Feeding articles separated from piles; Feeding articles to machines by belts or chains, e.g. between belts or chains
- B65H5/021—Feeding articles separated from piles; Feeding articles to machines by belts or chains, e.g. between belts or chains by belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J11/00—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
- B41J11/007—Conveyor belts or like feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/16—Delivering or advancing articles from machines; Advancing articles to or into piles by contact of one face only with moving tapes, bands, or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
- B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/44—Moving, forwarding, guiding material
- B65H2301/443—Moving, forwarding, guiding material by acting on surface of handled material
- B65H2301/4432—Moving, forwarding, guiding material by acting on surface of handled material by means having an operating surface contacting only one face of the material, e.g. roller
- B65H2301/44322—Moving, forwarding, guiding material by acting on surface of handled material by means having an operating surface contacting only one face of the material, e.g. roller belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2404/00—Parts for transporting or guiding the handled material
- B65H2404/20—Belts
- B65H2404/25—Driving or guiding arrangements
- B65H2404/254—Arrangement for varying the guiding or transport length
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/20—Location in space
- B65H2511/22—Distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/30—Forces; Stresses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/30—Forces; Stresses
- B65H2515/31—Tensile forces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/70—Electrical or magnetic properties, e.g. electric power or current
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2801/00—Application field
- B65H2801/03—Image reproduction devices
- B65H2801/15—Digital printing machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Delivering By Means Of Belts And Rollers (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
A positioning and conveying device includes an endless conveyor belt which runs around two rollers mounted to a frame. The outer surface of the roller is defined by a plurality of roller segments which complementary cover the perimeter. The segments are individually movable in the axial direction for laterally moving the conveyor belt relative to the frame. The device includes at least one actuator assembly including a controllable magnetic actuator mounted at either end of the roller. At either end of the segments a ferromagnetic counterpart is mounted to cooperate with the respective magnetic actuators to move the respective segments in the axial direction. Each magnetic actuator comprises an electromagnet. Each ferromagnetic counterpart is arranged on a radial inner side of the associated segment. During rotation of the roller the roller segments and the associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets.
Description
- This application is the National Stage of International Application No. PCT/NL2017/050757, filed Nov. 20, 2017, which claims the benefit of Netherlands Application Nos. NL 2017855, filed Nov. 23, 2016, NL 2017854, filed Nov. 23, 2016, and NL 2017856, filed Nov. 23, 2016, the contents of all of which are incorporated by reference herein.
- The present invention relates to a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame.
- Many positioning and/or conveying assemblies incorporate conveyor belts to transport material or work pieces and position it at a desired location. In those applications a belt is used in the form of a continuous loop which is supported at opposite reversing ends by rollers or the like. The belt might be used for transferring an object from one place to another and/or to position an object on a desired location, for example for processing, treating or machining the object. Proper operation of these systems may require that the belt moves in a controlled way with minimal positioning errors. For example, in inkjet printers each individual color plane is in general transferred to the substrate at different locations along the travel path of the conveyor belt or other substrate carrier. Therefore the position of the object (or substrate as it is called in printing technology) on the conveyor belt needs to be very stable and reproducible, for example within ±10 μmnsure that the resulting image is of good quality. Position errors of the conveyor belt may cause errors in the positioning of the object that is placed on the conveyor belt.
- The present invention relates to a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt. The outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller. The segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame. The device furthermore includes at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller. At either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller.
- Such a positioning and conveying device is known from EP 2603445.
- It is an object of the present invention is to improve the positioning accuracy of the positioning and conveying device.
- According to one aspect of the invention this object is achieved by a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt. The outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller. The segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame. The device furthermore includes at least one actuator assembly for driving the segments in the axial direction of the roller. The actuator assembly comprises a controllable magnetic actuator stationary mounted at either end of the roller, wherein at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller. Each controllable magnetic actuator comprises an electromagnet including a core and a coil. Each ferromagnetic counterpart is arranged on a radial inner side of the associated roller segment and extends radially inwards and tangentially. During rotation of the roller the roller segments and the associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets, wherein a variable axial air gap is present between the electromagnet and the ferromagnetic counterpart. Concentrically (radially inward) with the ferromagnetic counterpart a stationary ferromagnetic curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate. The ferromagnetic curved plate is coupled to the core of the electromagnet such that a magnetic field created by the electromagnet runs through said ferromagnetic curved plate.
- The axial position of the roller segment relative to the electromagnet varies during operation of the device. This varying axial position results in a varying distance between the electromagnet and the ferromagnetic counterparts passing by said electromagnet. This varying distance causes a variation in the actuator force as a function of the electrical current fed to the coil of the electromagnet. By adding the stationary ferromagnetic curved plate with the constant radial gap with respect to the counterpart, the variation in the actuator force as a function of the current is reduced. Thereby a more accurate force control can be achieved, which results in a more accurate positioning accuracy of the positioning and conveying device.
- In a practical embodiment the device comprises an electronic controller connected to the electromagnets to control electric current through the coil of the electromagnets, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the electromagnets to measure the variable axial air gap between the electromagnet and the ferromagnetic counterpart.
- In a preferred further embodiment the controller is configured such that it compensates for the variation in actuator force as a function of the current for varying positions of the roller segments.
- In further embodiment the controller comprises a memory, wherein a look-up table is stored in the memory in which the actuator force as a function of the current for varying lateral positions of the segment is stored.
- According to another aspect of the invention the mentioned object is achieved by a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt. The outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller. The segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame. The device furthermore includes at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller, wherein at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller. The roller has a stationary central shaft and a hub that is arranged concentrically rotatable around the central shaft, e.g. by means of bearings, and the roller segments are coupled to the hub by means of radial spacers comprising leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) axial position when out of the neutral axial position. The device includes a tensioning system for tensioning the belt in its longitudinal direction, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral axial position.
- According to this aspect of the invention the tensioning force results in a compression force on the leaf springs. The compression force on the leaf springs resolves in a force in the axial direction of the roller that is away from the neutral or central position of the segment. In the meantime an axial deviation from the neutral or central axial position of the segment causes in the leaf springs a deformation which in combination with the spring stiffness results in a spring force in the axial direction of the roller that wants the segment to move to the neutral axial position. The two forces thus work in opposite directions. The two forces vary both approximately linear with the axial position of the roller segment relative to the neutral position. Thus is achieved that in the axial working range of the segments the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs when the roller segment is away from the neutral axial position. In the neutral position the compression force on the leaf springs does not resolve in an axial force component and the leaf springs are not flexed thus no spring force is induced. With this aspect of the invention a structure is achieved wherein no friction has to be overcome to move the segments, and wherein no counteracting spring force has to be overcome to move a roller segment. Therefore less control force is necessary to move the roller segments in the axial direction, whereby the controllability of the device is improved and thus the positioning accuracy of the device is improved.
- According to yet another aspect of the invention the mentioned object is achieved by a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt. The outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller. Each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller. The segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame. The device furthermore includes at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller. At either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller. The device comprises at the roller a “set” actuator assembly and a “reset” actuator assembly. The “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction. The “reset” actuator assembly is arranged to work on the roller segment(s) that is/are not in contact with the belt to reset the roller segment(s) to a neutral position.
- The roller has a plurality of segments, in a practical embodiment it has three or more segments, such that during a full rotation the segment has a part of the circular trajectory in which it is not in contact with the conveyor belt running around the rollers. By controlling the axial position of the segments that are in contact with the belt, the lateral position of the belt can be controlled. This is done by the “set” actuator assembly. The segments that are not in contact with the belt must be repositioned (towards the neutral or central position). Repositioning in general is done often by means of a spring. However using springs (for example the leaf springs as mentioned above) to reposition the segments would result in vibrations that can cause positioning errors for the belt. Therefore according to this aspect of the invention repositioning is done by the “reset” actuator assembly which, like the “set” actuator assembly comprises a controllable magnetic actuator. The repositioning with controllable magnetic actuators as proposed allows repositioning of the segments in a controlled way such that disturbances on the belt caused by this repositioning are avoided or minimized. Thereby the positioning accuracy of the device is improved.
- In a preferred embodiment each one of the magnetic actuators of the “set” actuator assembly and “reset” actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle α with respect to a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, wherein the angle α≤±30° with respect to said centre plane. By this configuration the angle between the influence area of the “set” and “reset” actuator assemblies (≤120°) is larger than the angle of a roller segment (<120°), when the roller has at least three segments. Therefore the roller segment cannot be in front of magnetic actuators of both the “set” and “reset” actuator assemblies.
- Consequently the “set” actuator assembly and the “reset” actuator assembly cannot apply a magnetic force on the same segment at the same time. Thereby the “set” and “reset” actuator assemblies do not influence each other and disturbances on the belt position, due to repositioning of the segment that is not in contact with the belt, are prevented.
- In a preferred embodiment the device comprises an electronic controller connected to the controllable magnetic actuators to control the magnetic force generated by the magnetic actuators, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the magnetic actuators to measure the variable axial air gap between the magnetic actuator and the ferromagnetic counterpart. In a further embodiment the device has two air gap sensors near the “set” actuator assembly. In this embodiment two air gap sensors are thus positioned near the actuator assembly that controls the position of the segments that are in contact with the belt. When the gap measurement of one of these gap sensors is disturbed by a transition from one segment to the next segment a correct gap measurement can be done with the other gap sensor. The angular spacing between the two gap sensors is unequal to the angle between the roller segments (120°) to prevent that multiple gap sensors are disturbed at the same time by roller segment transitions.
- In a further embodiment, an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the “set” actuator assembly, wherein the angle γ<120°. In this embodiment the angle γ between the two air gap sensors is thus smaller than the angle between the roller segments such that both air gap sensors measure the distance of the same segment before the measurement of the air gap sensor located downstream is disturbed by a segment transition.
- In a further embodiment one air gap sensor is located near the “reset” actuator assembly. Preferably the air gap sensor that is positioned near the “reset” actuator assembly is positioned in a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, whereby the gap measurement at the “reset” actuator assembly is not disturbed by segment transitions when the segment is free from the belt.
- Preferably the “set” and “reset” actuator assemblies are similar.
- It is noted that combinations of the mentioned aspects of the invention are also envisaged.
- The invention also relates to a printing system comprising a printer station and a positioning and conveying device as described in the above for conveying and positioning a substrate at the printer station. In a practical embodiment the printer station comprises inkjet printing heads.
- The invention will be elucidated further in the following description with reference to the drawings.
-
FIG. 1 shows schematically a side view of a positioning and conveying device according to the invention, -
FIG. 2 shows in a view in perspective a roller of a preferred embodiment of the device ofFIG. 1 , -
FIG. 3 shows a sectional view in perspective the roller ofFIG. 2 , -
FIG. 4 shows in a cross section in perspective the roller ofFIG. 2 , -
FIG. 5 shows schematically a longitudinal section of the roller ofFIG. 2 , -
FIG. 6 shows schematically a cross section of the roller ofFIG. 2 with a belt running around it, -
FIG. 7 illustrates schematically a longitudinal section of the device according to the invention, and -
FIG. 8 shows a detail ofFIG. 7 . -
FIG. 1 shows schematically a positioning and conveyingdevice 1. Thedevice 1 comprises anendless conveyor belt 2 which runs around tworollers conveyor belt 2 has anupper run 2A forming a carrying side forobjects 6 to be positioned and transferred, and alower run 2B forming a return side of thebelt 2. InFIG. 1 the conveying direction of theconveyor belt 2 is indicated by adouble arrow 200. - The positioning and conveying
device 1 is particularly suitable for for use with a printing system, wherein theobjects 6 are substrates or webs that are conveyed along a path passing aprinter station 300. Theprinter station 300 in particular comprises inkjet printing heads 301. In inkjet printers each individual color plane is in general transferred to the substrate at different locations along the travel path of the conveyor belt. Therefore the position of the object 6 (substrate or web) on theconveyor belt 2 needs to be very stable and reproducible, for example within ±10 μm, to ensure that the resulting image is of good quality. - It should be noted here that, besides printing applications, the positioning and conveying
device 1 can also be used in combination with other article processing systems wherein a high positioning accuracy is needed. An example is for example a laser engraving system. - For positioning the
objects 6 on the belt 2 a position control system is proposed which a.o. comprises acontroller 400 that is able to controlactuator assemblies rollers - In a preferred embodiment of the invention both
rollers roller 3 will be elucidated with reference toFIGS. 2-6 . It must be understood that this description is the same for theopposite roller 4. - In
FIGS. 2-6 theroller 3 is shown in more detail. Theroller 3 has a stationary portion comprising acentral spindle 35 and twoside plates FIGS. 3 and 5 ). Theroller 3 also has a rotatable portion, which is rotatable around thecentral spindle 35. This rotatable portion includes ahub 38 formed as a cylindrical body that is mounted coaxially with thecentral spindle 35 and is supported rotatably relative to thespindle 35 by means ofbearings 39, in this example ball bearings, mounted at either end of the cylindrical body of thehub 38. - The rotatable portion of the
roller 3 furthermore comprises an outer jacket constituted by threeroller segments segments roller 3. Eachroller segment hub 38 by means ofspacer elements 40. Thespacer elements 40 function essentially as spokes in a wheel. As will be described below, thesegments roller 3, thus in a transverse direction of thebelt 2. Thespacer elements 40 are designed as flexible elements such that they allow a movement of thesegments roller 3. - The
roller segments roller 3. Each of theroller segments conveyor belt 2 and tangentially dimensioned such that the threesegments roller 3 except for a number of (in this embodiment three) longitudinaltransitional areas 34 between thesegments segments roller 3 extends over an angle β≤120° (seeFIG. 6 ). - The
segments roller 3 as is indicated for thesegments FIG. 5 bydouble arrows direction 200 of theconveyor belt 2. By moving thesegments conveyor belt 2 and theroller segments belt 2 is moved in its transverse direction relative to the stationary frame 5. Thereby anobject 6 on thebelt 2 can be positioned in the transverse direction and in the conveying direction. - The
flexible spacer elements 40 guide the axial movement of theroller segments flexible spacer elements 40 comprise leaf springs. Theflexible spacer elements 40 are arranged such that if thesegment conveyor 1, out of a central position, the resiliency of theleaf springs 40 biases thesegment leaf springs 40 are not loaded. - For providing the actuating force to move the
segments roller 3. In the preferred embodiment of theFIGS. 2-6 , theroller 3 has twoactuator assemblies first actuator assembly 7 is a “set” actuator assembly that is able to provide force to the segment(s) 31, 32, 33 on the outer side. For example inFIG. 4 mainly thesegment 31 is in front of the “set”actuator assembly 7. For example inFIG. 6 thesegments actuator assembly 7. Thesecond actuator assembly 8 is a “reset” actuator assembly that is able to provide force to the segment(s) 31, 32, 33 on the inner side. For example inFIG. 4 thesegment 32 is in front of the “reset”actuator assembly 8. For example inFIG. 6 thesegment 32 is in front of the “reset”actuator assembly 8. - The “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the
belt 2 in the lateral direction; in the example ofFIG. 6 these are thesegments belt 2 to reset the roller segment(s) to the central position also called neutral position; in the example ofFIG. 6 this is thesegment 32. - As can be best seen in
FIGS. 3 and 5 the “set”actuator assembly 7 comprises twoelectromagnets roller 3. Theelectromagnets side plates actuator 8 compriseselectromagnets roller 3. Theelectromagnets side plates - The
electromagnets core coil corresponding core cylindrical ring cylindrical ring radial flanges end plates cylindrical ring electromagnet counterparts radial gap 60 between theferromagnetic counterparts cylindrical ring core electromagnets radial flanges cylindrical ring electromagnet cylindrical ring FIG. 5 by dashed lines. - The
segments counterparts segments counterparts counterparts magnetic actuators respective segments roller 3. Thecounterparts magnetic actuators respective segments roller 3. Theferromagnetic counterparts roller segment corresponding ring segment - During rotation of the
roller 3 theroller segments ferromagnetic counterparts counterparts corresponding electromagnets axial air gap 90 is present between theelectromagnet ferromagnetic counterpart - By feeding an electrical current to the
coil electromagnet ferromagnetic counterpart - The electrical current that is fed to the
coil electromagnets electronic controller 400 connected to theelectromagnets device 1 furthermore includesgap distance sensors controller 400 and provided near part of the electromagnets to measure the variableaxial air gap 90 between the electromagnet and the ferromagnetic counterpart. - In use the segments thus have a variable axial position. Consequently there is a varying distance between the electromagnets and the ferromagnetic counterparts passing by said electromagnets. If a electromagnet is actuated this varying distance causes a variation in the actuator force as a function of the electrical current fed to the coil of the electromagnet. By adding the stationary ferromagnetic curved plate with the constant
radial gap 60 with respect to the counterpart, the variation in the actuator force as a function of the current is reduced. Thereby a more accurate force control can be achieved, which results in a more accurate positioning accuracy of the positioning and conveying device. - In the
system 1 the gap distances are measured, which are representative for the lateral position of thebelt 2. Thecontroller 400, the electromagnets and the gap distance sensors form part of a position control loop. - The
controller 400 is configured such that using the measurements by thegap distance sensors roller segments roller segments controller 400 and is used by thecontroller 400 to adapt the control signal (current) based on the measured gap distance - An angle γ can be defined between two virtual planes that respectively extend from the center of the roller through the respective
air gap sensors FIG. 6 ). The angle γ<120°. The angle γ between the twoair gap sensors air gap sensors same segment air gap sensor 9 located downstream is disturbed by a segment transition 34 (seeFIG. 6 ). - The
air gap sensor 42 that is positioned near the “reset” actuator assembly is positioned in a centre plane, indicated by A-A inFIG. 6 of theconveyor belt 2, which centre plane A-A extends through the centre axis of thespindle 35 and in in the middle between theupper run 2A and thelower run 2B. - Each one of the magnetic actuators of the “set” actuator assembly and “reset” actuator assembly is able to submit a magnetic force on the passing
countreparts segments conveyor belt 2, wherein the angle α≤±30° with respect to said centre plane A-A as is indicated inFIG. 6 . - As is shown in
FIG. 7 thedevice 1 includes atensioning system 70 for tensioning thebelt 2. Thebelt 2 is given a pretension by thetensioning system 70 by controlling the distance between thespindles rollers belt 2 applying a compression force on theroller roller 3. It must be understood that for theother roller 4 the same applies. Thetensioning system 70 is preferably connected to thecontroller 400 that also controls theactuator assemblies rollers - The pretensioning force results in a compression force on the
leaf springs 40 which is indicated inFIG. 8 by anarrow 110. Thecompression force 110 on the leaf springs 40 resolves in aforce 112 in the axial direction of theroller 3 that is away from the neutral or central position of the segment. In the meantime an axial deviation from the neutral or central axial position of the segment causes in the leaf springs 40 a deformation which in combination with the spring stiffness results in aspring force 111 in the axial direction of theroller 3 that pushes thesegment - The two
forces forces roller segment segments axial force component 112 on theroller segment belt pretension force 110 counterbalances theaxial force 111 on theroller segment leaf springs 40 when theroller segment - In the neutral position the
compression force 110 on the leaf springs 40 does not resolve in an axial force component and theleaf springs 40 are not flexed thus no spring force is induced. Advantageously thesegments roller segments roller segments device 1 is improved and thus the positioning accuracy of thedevice 1 is improved. - The invention can be summarized by the following clauses:
- 1. Positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt,
- wherein the outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller,
wherein the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame,
the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller,
wherein at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller,
characterized in that
each controllable magnetic actuator comprises an electromagnet including a core and a coil, each ferromagnetic counterpart is arranged on a radial inner side of the associated roller segment and extends radially inwards and tangentially,
wherein during rotation of the roller the roller segments and the associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets, wherein a variable axial air gap is present between the electromagnet and the ferromagnetic counterpart, and
wherein concentrically (radially inward) with the ferromagnetic counterpart a stationary ferromagnetic curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate, said ferromagnetic curved plate being coupled to the core of the electromagnet such that a magnetic field created by the electromagnet runs through said ferromagnetic curved plate. - 2. Positioning and conveying device according to
clause 1, wherein the device comprises an electronic controller connected to the electromagnets to control electric current through the coil of the electromagnets, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the electromagnets to measure the variable axial air gap between the electromagnet and the ferromagnetic counterpart. - 3. Positioning and conveying device according to
clause 2, wherein the controller is configured such that it compensates for the variation in actuator force as a function of the current for varying positions of the roller segments. - 4. Positioning and conveying device according to
clause - 5. Positioning and conveying device according to any one of the preceding clauses, wherein the device comprises at the roller a “set” actuator assembly and a “reset” actuator assembly, wherein the “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and wherein the “reset” actuator assembly is arranged to work on the roller segment(s) that is/are not in contact with the belt to reset the roller segment(s) to a neutral position.
- 6. Positioning and conveying device according to
clause 2 and 5, wherein the device has two air gap sensors near the set actuator assembly and one air gap sensor near the “reset” actuator assembly. - 7. Positioning and conveying device according to
clause 6, wherein an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the “set” actuator assembly, wherein the angle γ<120°. - 8. Positioning and conveying device according to
clause - 9. Positioning and conveying device according to any one of the clauses 5-8, each one of the magnetic actuators of the “set” actuator assembly and “reset” actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle α with respect to a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, wherein the angle α≤±30° with respect to said centre plane.
- 10. Positioning and conveying device according to any one of the preceding clauses, wherein each roller has three or more roller segments.
- 11. Positioning and conveying device according to
clause 10, wherein each of the segments in tangential direction of the roller extends over an angle β≤120°. - 12. Positioning and conveying device according to any one of the preceding clauses, wherein the roller has a stationary central shaft and a hub that is concentrically rotatable around the central shaft, e.g. by means of bearings, and wherein the roller segments are coupled to the hub by means of radial spacers.
- 13. Positioning and conveying device according to clauses 12, wherein the radial spacers are leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) position when out of the neutral position.
- 14. Positioning and conveying device according to clause 13, wherein the device includes a tensioning system for tensioning the belt, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral position.
- 15. Positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt,
- wherein the outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller,
wherein the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame,
the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller,
wherein at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller,
characterized in that
the roller has a stationary central shaft and a hub that is arranged concentrically rotatable around the central shaft, e.g. by means of bearings, and wherein the roller segments are coupled to the hub by means of radial spacers comprising leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) axial position when out of the neutral axial position, wherein the device includes a tensioning system for tensioning the belt in its longitudinal direction, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral axial position. - 16. Positioning and conveying device according to clause 15, wherein the device comprises at the roller a “set” actuator assembly and a “reset” actuator assembly, wherein the “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and wherein the “reset” actuator assembly is arranged to work on the roller segment(s) that is/are not in contact with the belt to reset the roller segment(s) to a neutral position.
- 17. Positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt,
- wherein the outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller,
wherein the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame,
the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller,
wherein at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller,
characterized in that
the device comprises at the roller a “set” actuator assembly and a “reset” actuator assembly, wherein the “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and wherein the “reset” actuator assembly is arranged to work on the roller segment(s) that is/are not in contact with the belt to reset the roller segment(s) to a neutral position. - 18. Positioning and conveying device according to clause 17, wherein each one of the magnetic actuators of the “set” actuator assembly and “reset” actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle α with respect to a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, wherein the angle α≤±30° with respect to said centre plane.
- 19. Positioning and conveying device according to clauses 17 or 18, furthermore comprising an electronic controller connected to the controllable magnetic actuators to control the magnetic force generated by the magnetic actuators, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the magnetic actuators to measure the variable axial air gap between the magnetic actuator and the ferromagnetic counterpart.
- 20. Positioning and conveying device according to clause 19, wherein the device has two air gap sensors near the “set” actuator assembly.
- 21. Positioning and conveying device according to clause 20, wherein an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the “set” actuator assembly, wherein the angle γ<120°.
- 22. Positioning and conveying device according to any one of clauses 17-21, wherein one air gap sensor is located near the “reset” actuator assembly.
- 23. Positioning and conveying device according to clause 22, wherein the air gap sensor that is positioned near the “reset” actuator assembly is positioned in a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, whereby the gap measurement at the “reset” actuator assembly is not disturbed by segment transitions when the segment is free from the belt.
- 24. Positioning and conveying device according to any one of clauses 17-23, wherein the “set” and “reset” actuator assemblies are similar.
- 25. Printing system comprising a printer station and a positioning and conveying device according to any one of the preceding clauses, for conveying and positioning a substrate at the printer station.
Claims (16)
1. A positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt,
wherein the outer surface of at least one of the rollers is defined by a plurality of roller segments extending in the axial and tangential direction of the roller, wherein each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller,
wherein the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame,
the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stationary mounted at either end of the roller,
wherein at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller,
wherein each controllable magnetic actuator comprises an electromagnet including a core and a coil,
wherein each ferromagnetic counterpart is arranged on a radial inner side of the associated roller segment and extends radially inwards and tangentially,
wherein during rotation of the roller the roller segments and the associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets, wherein a variable axial air gap is present between the electromagnet and the ferromagnetic counterpart, and
wherein concentrically radially inward with the ferromagnetic counterpart a stationary ferromagnetic curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate, said ferromagnetic curved plate being coupled to the core of the electromagnet such that a magnetic field created by the electromagnet runs through said ferromagnetic curved plate.
2. The positioning and conveying device according to claim 1 , wherein the device comprises an electronic controller connected to the electromagnets to control electric current through the coil of the electromagnets, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the electromagnets to measure the variable axial air gap between the electromagnet and the ferromagnetic counterpart.
3. The positioning and conveying device according to claim 2 , wherein the controller is configured such that it compensates for the variation in actuator force as a function of the current for varying positions of the roller segments.
4. The positioning and conveying device according to claim 2 , wherein the controller comprises a memory, wherein a look-up table is stored in the memory in which the actuator force as a function of the current for varying lateral positions of the segment is stored.
5. The positioning and conveying device according to claim 1 , wherein the device comprises at the roller a “set” actuator assembly and a “reset” actuator assembly, wherein the “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and wherein the “reset” actuator assembly is arranged to work on the roller segment(s) that is/are not in contact with the belt to reset the roller segment(s) to a neutral position.
6. The positioning and conveying device according to claim 2 , wherein the device comprises at the roller a “set” actuator assembly and a “reset” actuator assembly, wherein the “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and wherein the “reset” actuator assembly is arranged to work on the roller segment(s) that is/are not in contact with the belt to reset the roller segment(s) to a neutral position, and wherein the device has two air gap sensors near the set actuator assembly and one air gap sensor near the “reset” actuator assembly.
7. The positioning and conveying device according to claim 6 , wherein an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the “set” actuator assembly, wherein the angle γ<120°.
8. The positioning and conveying device according to claim 6 , wherein the air gap sensor that is positioned near the “reset” actuator assembly is positioned in a centre plane of the conveyor belt extending in the middle between the upper run and the lower run.
9. and conveying device according to claim 5 , each one of the magnetic actuators of the “set” actuator assembly and “reset” actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle α with respect to a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, wherein the angle α≤±30° with respect to said centre plane.
10. The positioning and conveying device according to claim 1 , wherein each roller has three or more roller segments.
11. The positioning and conveying device according to claim 10 , wherein each of the segments in tangential direction of the roller extends over an angle β≤120°.
12. The positioning and conveying device according to claim 1 , wherein the roller has a stationary central shaft and a hub that is concentrically rotatable around the central shaft, e.g. by means of bearings, and wherein the roller segments are coupled to the hub by means of radial spacers.
13. The positioning and conveying device according to claim 12 , wherein the radial spacers are leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) position when out of the neutral position.
14. The positioning and conveying device according to claim 13 , wherein the device includes a tensioning system for tensioning the belt, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral position.
15. A printing system comprising a printer station and a positioning and conveying device according to claim 1 , for conveying and positioning a substrate at the printer station.
16. The positioning and conveying device according to claim 6 , each one of the magnetic actuators of the “set” actuator assembly and “reset” actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle α with respect to a centre plane of the conveyor belt extending in the middle between the upper run and the lower run, wherein the angle α≤±30° with respect to said centre plane.
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
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NL2017855 | 2016-11-23 | ||
NL2017855A NL2017855B1 (en) | 2016-11-23 | 2016-11-23 | Positioning and conveying device |
NL2017854 | 2016-11-23 | ||
NL2017854A NL2017854B1 (en) | 2016-11-23 | 2016-11-23 | Positioning and conveying device |
NL2017856 | 2016-11-23 | ||
NL2017856A NL2017856B1 (en) | 2016-11-23 | 2016-11-23 | Positioning and conveying device |
PCT/NL2017/050757 WO2018097709A1 (en) | 2016-11-23 | 2017-11-20 | Positioning and conveying device |
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US20190276254A1 true US20190276254A1 (en) | 2019-09-12 |
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US16/462,632 Abandoned US20190276254A1 (en) | 2016-11-23 | 2017-11-20 | Positioning and conveying device |
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US (1) | US20190276254A1 (en) |
EP (3) | EP3544916B1 (en) |
JP (1) | JP2020500130A (en) |
KR (1) | KR20190104514A (en) |
CN (1) | CN110234583B (en) |
IL (1) | IL266844A (en) |
WO (3) | WO2018097711A1 (en) |
Cited By (1)
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CN112811090A (en) * | 2021-02-01 | 2021-05-18 | 无锡新松机器人自动化有限公司 | Sword gate conveying equipment and period zero clearing method for precise transmission of double-side plate chain |
Families Citing this family (1)
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CN115592969B (en) * | 2022-09-14 | 2023-09-01 | 苏州可川电子科技股份有限公司 | Asynchronous opposite-pasting material-saving process for special-shaped double faced adhesive tape |
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DE1237002B (en) * | 1965-09-02 | 1967-03-16 | Continental Gummi Werke Ag | Deflection or drive drum for belt conveyor systems |
NL9402031A (en) * | 1994-12-02 | 1996-07-01 | Kevin Machinebouw B V | Guide roller and conveyor-belt assembly provided therewith |
JP2002053216A (en) * | 2000-08-04 | 2002-02-19 | Canon Inc | Endless belt device and manufacturing method for endless belt |
NL2005222C2 (en) * | 2010-08-12 | 2012-02-14 | Ccm Beheer Bv | Positioning and/or transfer assembly. |
JP2015060064A (en) * | 2013-09-18 | 2015-03-30 | キヤノン株式会社 | Belt conveyance apparatus and image forming apparatus |
NL1040690B1 (en) * | 2014-02-27 | 2015-10-19 | Guide2Track S Àr L | conveyor assembly |
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2017
- 2017-11-20 EP EP17817254.0A patent/EP3544916B1/en active Active
- 2017-11-20 WO PCT/NL2017/050759 patent/WO2018097711A1/en unknown
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- 2017-11-20 US US16/462,632 patent/US20190276254A1/en not_active Abandoned
- 2017-11-20 CN CN201780072522.4A patent/CN110234583B/en active Active
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CN112811090A (en) * | 2021-02-01 | 2021-05-18 | 无锡新松机器人自动化有限公司 | Sword gate conveying equipment and period zero clearing method for precise transmission of double-side plate chain |
Also Published As
Publication number | Publication date |
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EP3544916A1 (en) | 2019-10-02 |
WO2018097710A1 (en) | 2018-05-31 |
WO2018097709A1 (en) | 2018-05-31 |
JP2020500130A (en) | 2020-01-09 |
EP3544915A1 (en) | 2019-10-02 |
EP3544916B1 (en) | 2021-03-17 |
KR20190104514A (en) | 2019-09-10 |
CN110234583B (en) | 2020-12-25 |
EP3544915B1 (en) | 2020-07-15 |
EP3544914B1 (en) | 2020-07-15 |
WO2018097711A1 (en) | 2018-05-31 |
EP3544914A1 (en) | 2019-10-02 |
CN110234583A (en) | 2019-09-13 |
IL266844A (en) | 2019-07-31 |
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